CN105291091B - Three-translation one-rotation parallel robot with plane pair - Google Patents
Three-translation one-rotation parallel robot with plane pair Download PDFInfo
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- CN105291091B CN105291091B CN201510764004.1A CN201510764004A CN105291091B CN 105291091 B CN105291091 B CN 105291091B CN 201510764004 A CN201510764004 A CN 201510764004A CN 105291091 B CN105291091 B CN 105291091B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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Abstract
The invention provides a three-translation one-rotation parallel robot with a plane pair, which comprises a fixed platform, a moving platform and four branched chains with the same structure, wherein the four branched chains are connected between the fixed platform and the moving platform, and the robot is characterized in that: the motion platform is for having the four-edge table of four sides, and every side all contains rectangle hollow structure, and the movable rectangle hollow structure the inside of embedding motion platform of ball through inlaying at the edge is gone into to the disc slider, constitutes the planar motion pair jointly with the motion platform, and four branch chains all contain the telescopic link, and the one end of telescopic link is passed through the revolute pair and is connected with fixed platform, and the other end and the one side rigid coupling of disc slider, four revolute pairs are parallel to each other, and the central axis of four telescopic links is handed over in a bit. According to the invention, through driving the revolute pair on each branched chain, the motion platform can obtain three translational degrees of freedom and one rotational degree of freedom, through introducing the plane pair, the branched chain structure is simplified, and the structural form of the short branched chain can effectively improve the rigidity and the motion precision of the robot.
Description
Technical Field
The invention belongs to the technical field of mechanical manufacturing, and particularly relates to a three-translation and one-rotation parallel robot with a plane pair.
Background
The parallel robot and the series robot are in a dual relation in structure and performance characteristics, and compared with the traditional series robot, the parallel robot has the advantages of large structural rigidity, high bearing capacity, small inertia, high response speed, high precision and the like, and is widely applied to relevant fields such as mechanical manufacturing and the like.
The parallel robot with less degrees of freedom attracts a large number of scholars at home and abroad to carry out research by the characteristics and the application potential of the parallel robot. Pierrot et al propose an H4 type parallel robot with four branched chains and a double-acting platform structure characteristic, which realizes spatial three-dimensional translation and one-dimensional rotation, and the robot has good compliance in a horizontal plane and ensures higher rigidity in a direction perpendicular to the horizontal plane. The parallel mechanism mainly comprises a movable platform and a fixed platform, wherein an actuator is installed on the movable platform and the fixed platform, four branched chains with the same structure are connected between the movable platform and the fixed platform, and the parallel mechanism has the structural characteristics of a single platform, is simple in structure and kinematics, and is favorable for realizing high-speed movement. The precision positioning platform is composed of a base and a movable platform arranged in the base, has the characteristics of simple and compact structure, large output displacement, high axial rigidity and the like, can be used as an auxiliary positioning platform of a nanometer micro-operation system, and has the functions of micro-feeding and precision positioning. The asymmetrical parallel robot mechanism with three degrees of freedom, including movable platform, frame and three connected branches, has been developed by Tnhua front et al of Beijing university of industry. The two branches with the same structure are composed of a cylindrical pair, two rotating pairs and two connecting rods for connecting the two rotating pairs, and the other branch is composed of four rotating pairs and three connecting rods for connecting the four rotating pairs.
The research results relate to different types of parallel robots with few degrees of freedom, but the types of parallel robots with three translational degrees of freedom and one rotational degree of freedom still need to be expanded, and the structure still needs to be further simplified.
Disclosure of Invention
The invention aims to provide a three-translation and one-rotation parallel robot with a simple structure and a plane pair. The technical scheme is as follows:
the utility model provides a three translation one rotation parallel robot that contain the plane pair, includes fixed platform, motion platform and connects four branch chains that the structure is the same between fixed platform and motion platform, its characterized in that: the motion platform is for having the four-edge table of four sides, and every side all contains rectangle hollow structure, and the movable rectangle hollow structure the inside of embedding motion platform of ball through inlaying at the edge is gone into to the disc slider, constitutes the planar motion pair jointly with the motion platform, and four branch chains all contain the telescopic link, and the one end of telescopic link is passed through the revolute pair and is connected with fixed platform, and the other end and the one side rigid coupling of disc slider, four revolute pairs are parallel to each other, and the central axis of four telescopic links is handed over in a bit.
Compared with the prior art, the invention has the advantages that: (1) by introducing the plane pair, the branched chain structure is simplified, and the structural form of the short branched chain can effectively improve the rigidity and the motion precision of the robot; (2) the moving platform can obtain three translational degrees of freedom and one rotational degree of freedom by driving the revolute pair on each branched chain, and the robot is ensured to have good dynamic characteristics because the motor can be arranged on the fixed platform.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
In the figure: 1. fixed platform 2, motion platform 3, revolute pair 4, telescopic link 5, disc slider 6, ball.
Detailed Description
Claims (1)
1. The utility model provides a three translation one rotation parallel robot that contain the plane pair, includes fixed platform (1), motion platform (2) and connects four branch chains that the structure is the same between fixed platform (1) and motion platform (2), its characterized in that: motion platform (2) is the quadrangular frustum pyramid that has four sides, every side all contains rectangle hollow structure, disc slider (5) are movable through inlaying at the ball (6) at edge and are embedded into the rectangle hollow structure the inside of motion platform (2), constitute the plane motion pair jointly with motion platform (2), all be provided with one disc slider (5) in the rectangle hollow structure of every side of fixed platform (1), every disc slider (5) all are connected with a branch chain, four branch chains all contain telescopic link (4), the one end of telescopic link (4) is passed through revolute pair (3) and is connected with fixed platform (1), the other end and the one side rigid coupling of disc slider (5), four revolute pairs (3) are parallel to each other, the central axis of four telescopic links (4) is handed in a bit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510764004.1A CN105291091B (en) | 2015-11-11 | 2015-11-11 | Three-translation one-rotation parallel robot with plane pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510764004.1A CN105291091B (en) | 2015-11-11 | 2015-11-11 | Three-translation one-rotation parallel robot with plane pair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105291091A CN105291091A (en) | 2016-02-03 |
| CN105291091B true CN105291091B (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510764004.1A Expired - Fee Related CN105291091B (en) | 2015-11-11 | 2015-11-11 | Three-translation one-rotation parallel robot with plane pair |
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| CN (1) | CN105291091B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234317A (en) * | 2017-08-14 | 2017-10-10 | 北京工业大学 | A kind of automatic welding main body mechanism for building and its welding system |
| CN107856025B (en) * | 2017-12-20 | 2023-12-26 | 歌尔科技有限公司 | Robot and angle adjusting mechanism thereof |
| CN111331581B (en) * | 2020-03-17 | 2022-07-01 | 中国民航大学 | Partially-decoupled crossed four-degree-of-freedom parallel mechanism |
| CN113119072A (en) * | 2021-04-12 | 2021-07-16 | 福州大学 | Symmetrical redundant driving parallel operation head comprising double-acting platform |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19930287A1 (en) * | 1999-07-03 | 2001-01-04 | Klaus Dagefoerde | Joint arm machining center, with fast-moving work platform and slow moving joint arm device |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN101178306A (en) * | 2007-11-22 | 2008-05-14 | 山东理工大学 | Six dimensions position attitude detecting device |
| CN102058465A (en) * | 2011-02-22 | 2011-05-18 | 福州大学 | Ankle rehabilitation training device with single degree of freedom |
| CN104002302A (en) * | 2014-05-07 | 2014-08-27 | 燕山大学 | Two and three freedom-degree swing table with virtual rotating axis |
| KR20150094801A (en) * | 2014-02-10 | 2015-08-20 | 순천대학교 산학협력단 | Delta robot |
-
2015
- 2015-11-11 CN CN201510764004.1A patent/CN105291091B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19930287A1 (en) * | 1999-07-03 | 2001-01-04 | Klaus Dagefoerde | Joint arm machining center, with fast-moving work platform and slow moving joint arm device |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN101178306A (en) * | 2007-11-22 | 2008-05-14 | 山东理工大学 | Six dimensions position attitude detecting device |
| CN102058465A (en) * | 2011-02-22 | 2011-05-18 | 福州大学 | Ankle rehabilitation training device with single degree of freedom |
| KR20150094801A (en) * | 2014-02-10 | 2015-08-20 | 순천대학교 산학협력단 | Delta robot |
| CN104002302A (en) * | 2014-05-07 | 2014-08-27 | 燕山大学 | Two and three freedom-degree swing table with virtual rotating axis |
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| CN105291091A (en) | 2016-02-03 |
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